Several are the diseases that cause difficulties in walking. This chapter concerns the assistance of deficient kids using a robotic system. In this context, the lokomat appears to be the most suitable system for kids suffering from cerebral palsy. Hence, PID controllers based on feedback linearization and adaptive feedback linearization approaches have been proposed to control 2 DOF exoskeletons which are considered as the fundamental part of the lokomat system. Besides, in order to test the effectiveness and the robustness of these controllers, several cases have been proposed. Simulations were carried out to compare and to show the well desired trajectory tracking in these cases.


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    Title :

    Exoskeletons Control via Computed Torque for Lower Limb Rehabilitation


    Additional title:

    Studies in Systems, Decision and Control


    Contributors:


    Publication date :

    2020-02-12


    Size :

    21 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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